Loop Closure Detection Using Incremental Bags of Binary Words

Abstract

This chapter introduces a novel method for computing a visual vocabulary online. This binary vocabulary, in combination with an inverted file, conforms an index of images called OBIndex (Online Binary Image Index), which can be used to efficiently retrieve previously seen places. This chapter also presents a topological mapping algorithm called BINMap (Binary Mapping), which makes use of OBIndex as a key component to obtain loop closure candidates during the likelihood computation.